EP1597025A2 - Robot pour outils et procede d'etalonnage d'un dispositif - Google Patents

Robot pour outils et procede d'etalonnage d'un dispositif

Info

Publication number
EP1597025A2
EP1597025A2 EP04715243A EP04715243A EP1597025A2 EP 1597025 A2 EP1597025 A2 EP 1597025A2 EP 04715243 A EP04715243 A EP 04715243A EP 04715243 A EP04715243 A EP 04715243A EP 1597025 A2 EP1597025 A2 EP 1597025A2
Authority
EP
European Patent Office
Prior art keywords
measuring
object holder
joints
supports
calibration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP04715243A
Other languages
German (de)
English (en)
Other versions
EP1597025B1 (fr
Inventor
Dieter Faude
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP1597025A2 publication Critical patent/EP1597025A2/fr
Application granted granted Critical
Publication of EP1597025B1 publication Critical patent/EP1597025B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
    • B23Q1/015—Frames, beds, pillars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/58—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism a single sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0033—Program-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B25J9/0042—Program-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-universal-universal

Definitions

  • Devices of this type are preferably used to move a tool or another object three-dimensionally in accordance with a predetermined program.
  • Such machines are used not only in inaccessible or dangerous rooms, but above all as a replacement for human manual activity.
  • the device according to the invention with the characterizing features of claim 1 has the advantage of an inexpensive, easily programmable solution of a robot, with which high forces can also be transferred to the object holder because of the simple vertical adjustment.
  • the support arms are designed as double rods, on which joints are provided on the ends facing the support rods and shoes are provided on the joints for coupling to the support rods.
  • the support rods on the other hand, preferably consist of profile tubes of a certain cross-sectional configuration and can be connected at their ends to improve the stability of the base part by means of a frame.
  • the joints are designed as universal joints with the possibility of pivoting in two directions, so that a guide provided by the supports is transmitted kinematically favorably to the object holder.
  • At least one of the supports is designed to be removable. With the support removed, the device can easily be integrated into an existing system such as a conveyor belt.
  • a control device is integrated in the device and in particular is arranged below the base plate. The result is a fully integrated, compact unit with a small footprint. The actual kinematics above the base plate can be moved freely and freely in all spatial directions on the three support arms.
  • the measuring plate is arranged horizontally in relation to the coordinate system specified by the device, the measuring sensor being moved vertically for calibration.
  • FIGS. 1 to 3 shows an enlarged detailed view of a variant of the object holder of the arrangement according to FIGS. 1 to 3;
  • the object holder is protected by an all-round, transparent cover 19.
  • a cabinet for accommodating a control device 15 (not shown in detail) is provided below the base plate 1, as a result of which the arrangement shown becomes an integrated, compact and self-sufficient system.
  • the control device 15 can be actuated by means of a user interface 22.
  • the electric motors 6 are actuated to move the object holder 8.
  • a calibration routine and setpoint and actual values for calibration are also stored in the control device 15.
  • FIG. 5 shows an enlarged detail view of a variant of the object holder 8 according to FIG. 5, on which three pairs of high-precision universal joints 14 are provided for attachment to the support arms designed as double arms (FIG. 4).
  • a linear and pivotable adjustment of the support arms 7 by means of the control device 15 enables a linear movement of the object holder 8 in all three spatial coordinate directions as well as an at least limited pivoting about all three coordinate axes.
  • a fourth pivot axis is provided by a rotary mount 21 which is rotatably and interchangeably mounted on the object holder 8.
  • FIG. 12 shows a perspective view of the object holder 8 with the measuring sensor 16 clamped in.
  • a tool 10 could also be arranged on the object holder 8. The following individual process steps are carried out as examples:

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Numerical Control (AREA)
EP04715243A 2003-02-28 2004-02-27 Robot pour outils et procede d'etalonnage d'un dispositif Expired - Lifetime EP1597025B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE20303367U 2003-02-28
DE20303367U DE20303367U1 (de) 2003-02-28 2003-02-28 Roboter für Werkzeuge
PCT/DE2004/000377 WO2004076132A2 (fr) 2003-02-28 2004-02-27 Robot pour outils et procede d'etalonnage d'un dispositif

Publications (2)

Publication Number Publication Date
EP1597025A2 true EP1597025A2 (fr) 2005-11-23
EP1597025B1 EP1597025B1 (fr) 2010-12-29

Family

ID=27635459

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04715243A Expired - Lifetime EP1597025B1 (fr) 2003-02-28 2004-02-27 Robot pour outils et procede d'etalonnage d'un dispositif

Country Status (6)

Country Link
EP (1) EP1597025B1 (fr)
AT (1) ATE493238T1 (fr)
DE (4) DE20303367U1 (fr)
DK (1) DK1597025T3 (fr)
ES (1) ES2358068T3 (fr)
WO (1) WO2004076132A2 (fr)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20303367U1 (de) 2003-02-28 2003-07-24 Faude, Dieter, 71116 Gärtringen Roboter für Werkzeuge
FR2873317B1 (fr) * 2004-07-22 2008-09-26 Inst Nat Sciences Appliq Robot parallele comprenant des moyens de mise en mouvement decomposees en deux sous-ensemble
EP1640120A1 (fr) * 2004-09-24 2006-03-29 Dieter Faude Module de mouvement pour un robot et procédé de traitement d'une pièce
AT502864A3 (de) * 2004-10-11 2008-08-15 Ehrenleitner Franz Parallelkinematischer roboter
WO2006089887A2 (fr) * 2005-02-28 2006-08-31 Abb Ab Systeme d'etalonnage d'un robot industriel et procede associe
DE102005047644A1 (de) * 2005-09-23 2007-03-29 Deutsche Post Ag Roboter und Vorrichtung zum Be- und/oder Entladen von Stückgütern und Vorrichtung zum Ein- und Auslagern von Stückgütern mit demselben
DE102006046760A1 (de) * 2006-09-29 2008-04-03 Abb Patent Gmbh Verfahren zum Entwurf einer programmierbaren Vorrichtung zur Positionierung oder Bearbeitung eines Werkstückes
DE102011079764B3 (de) * 2011-07-25 2012-11-15 Johannes Gottlieb Verfahren und Anordnung zur Kalibrierung einer Kinematik sowie ein entsprechendes Computerprogramm und ein entsprechendes computerlesbares Speichermedium
CN103659793B (zh) * 2012-09-04 2016-11-09 哈尔滨工业大学深圳研究生院 单支链含闭环的平移驱动三平动并联机构
US10071478B2 (en) * 2013-12-23 2018-09-11 Robert Kevin Houston Parallel robot bracketing system
DE102014223407A1 (de) * 2014-11-17 2016-05-19 Krones Aktiengesellschaft Vorrichtung und Verfahren zur Handhabung und/oder zum Manipulieren von Artikeln wie Gebinden oderStückgütern
DE102016103929B4 (de) * 2016-03-04 2025-01-30 Hiwin Technologies Corp. Verfahren zur Weg-Planung für ein mit einem Roboterarm durchgeführtes Array-basiertes Pick-und-Place und Kompensator zur Verwendung in dem Verfahren
CN106767599A (zh) * 2016-12-26 2017-05-31 沈阳航空航天大学 一种三坐标测量装置及方法
GB2568459B (en) * 2017-10-13 2020-03-18 Renishaw Plc Coordinate positioning machine
GB2579917B (en) * 2017-10-13 2022-06-29 Renishaw Plc Coordinate Positioning Machine
DE102018114883B4 (de) * 2018-06-20 2020-12-10 Ponticon Gmbh Vorrichtung und Verfahren zum (Hochgeschwindigkeits-) Laserauftragschweißen
GB2582972B (en) 2019-04-12 2021-07-14 Renishaw Plc Coordinate positioning machine
JP6995819B2 (ja) * 2019-11-13 2022-01-17 シナノケンシ株式会社 パラレルリンクロボット

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19614641B4 (de) * 1996-04-13 2004-03-25 Wurst, Karl-Heinz, Dr.-Ing. Vorrichtung zur Bearbeitung und Montage von Werkstücken
DE19634575B4 (de) 1996-08-27 2004-03-04 Pritschow, Günter, Prof. Dr.-Ing. Dr.h.c.mult. Vorrichtung zur Erfassung der Position eines Werkzeug- und/oder eines Werkstückhalters
JP3807847B2 (ja) * 1997-08-11 2006-08-09 株式会社ジェイテクト 工作機械の制御方法
CA2312897A1 (fr) * 1997-12-01 1999-06-10 Richard J. Loerch Systeme et procede d'etalonnage d'un dispositif de positionnement hexapode
DE29803274U1 (de) 1998-02-25 1998-06-18 Tönshoff, Hans Kurt, Prof. Dr.-Ing. Dr.-Ing. E.h., 30938 Burgwedel Einrichtung zur räumlichen Positionierung eines Gegenstandes, insbesondere eines Werkzeuges
DE19921325A1 (de) * 1998-09-17 2000-03-23 Heidenhain Gmbh Dr Johannes Kalibriervorrichtung für einen parallelkinematischen Manipulator
EP1125693A1 (fr) 2000-02-14 2001-08-22 FESTO AG & Co Système à cinématique parallèle
ES2243097B1 (es) 2001-03-28 2007-02-16 Fundacion Fatronik Sistema cinematico para cabezal de maquina.
DE20303367U1 (de) 2003-02-28 2003-07-24 Faude, Dieter, 71116 Gärtringen Roboter für Werkzeuge

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2004076132A2 *

Also Published As

Publication number Publication date
DE502004012057D1 (de) 2011-02-10
EP1597025B1 (fr) 2010-12-29
DE20303367U1 (de) 2003-07-24
WO2004076132A3 (fr) 2004-11-25
ATE493238T1 (de) 2011-01-15
DK1597025T3 (da) 2011-03-07
WO2004076132A2 (fr) 2004-09-10
DE102004010826A1 (de) 2004-10-14
DE112004000790D2 (de) 2006-01-19
ES2358068T3 (es) 2011-05-05

Similar Documents

Publication Publication Date Title
EP1597025B1 (fr) Robot pour outils et procede d'etalonnage d'un dispositif
EP3341164B1 (fr) Préhenseur de robot
EP0721819B1 (fr) Machine-outil
DE60206979T3 (de) Mehrachsen-Maschine zum Positionieren eines Maschinenwerkzeugs
EP3592508A1 (fr) Bras robotisé pourvu d'un dispositif de butée mécanique
EP1004393B1 (fr) Machine-outil avec dispositif pour le changement d'outils automatique
WO2007073901A2 (fr) Machine a cintrer
DE102021101142A1 (de) Werkzeugmaschine
DE102014202257B4 (de) Rekonfigurierbare Schnittstellenanordnung, anpassbarer Fliessband-Werkstückbearbeiter und Verfahren
DE3440604A1 (de) Automatische werkzeugwechseleinrichtung fuer werkzeugmaschinen, insbesondere fuer universalbearbeitungszentren
DE9105600U1 (de) Aufnahmevorrichtung für Werkstücke
EP3117280A2 (fr) Procédé pour faire fonctionner un robot et robot correspondant équipé d'un dispositif palpeur mécanique
DE202018101910U1 (de) Zahnprothese-Verarbeitungseinrichtung
DE602006000992T2 (de) Maschine zur Herstellung von Türrahmen
WO2008116524A1 (fr) Manipulateur
DE29803274U1 (de) Einrichtung zur räumlichen Positionierung eines Gegenstandes, insbesondere eines Werkzeuges
DE102010016162B3 (de) Einspannanordnung
DE68903025T2 (de) Robotergreifer mit zusaetzlichen freiheitsgraden.
DE3720795A1 (de) Geraet zum messen, anreissen, antasten, bearbeiten od. dgl. von werkstuecken im raum
DE3716688A1 (de) Vorrichtung zur ausfuehrung raeumlicher bewegungen
DE19948335C1 (de) Bewegungs- und/oder Positioniervorrichtung
WO2015049136A2 (fr) Dispositif et procédé de travail
EP1640120A1 (fr) Module de mouvement pour un robot et procédé de traitement d'une pièce
DE3329539A1 (de) Verfahren zum wechseln eines werkzeugtraegers an einer bearbeitungseinheit zum bearbeiten von werkstuecken und vorrichtung zum durchfuehren des verfahrens
WO2010130590A2 (fr) Procédé et dispositif destinés à retenir et à usiner une pièce

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20050721

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL LT LV MK

17Q First examination report despatched

Effective date: 20080529

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL LT LV MK

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: PATENTANWAELTE SCHAAD, BALASS, MENZL & PARTNER AG

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REF Corresponds to:

Ref document number: 502004012057

Country of ref document: DE

Date of ref document: 20110210

Kind code of ref document: P

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502004012057

Country of ref document: DE

Effective date: 20110210

REG Reference to a national code

Ref country code: DK

Ref legal event code: T3

REG Reference to a national code

Ref country code: NL

Ref legal event code: T3

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2358068

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20110420

LTIE Lt: invalidation of european patent or patent extension

Effective date: 20101229

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101229

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110329

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101229

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101229

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101229

REG Reference to a national code

Ref country code: IE

Ref legal event code: FD4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101229

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110330

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20110429

REG Reference to a national code

Ref country code: HU

Ref legal event code: AG4A

Ref document number: E010671

Country of ref document: HU

BERE Be: lapsed

Owner name: FAUDE, DIETER

Effective date: 20110228

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101229

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101229

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110228

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101229

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110228

26N No opposition filed

Effective date: 20110930

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502004012057

Country of ref document: DE

Effective date: 20110930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110227

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101229

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20140220

Year of fee payment: 11

Ref country code: DK

Payment date: 20140221

Year of fee payment: 11

Ref country code: CH

Payment date: 20140220

Year of fee payment: 11

Ref country code: CZ

Payment date: 20140214

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20140226

Year of fee payment: 11

Ref country code: HU

Payment date: 20140219

Year of fee payment: 11

Ref country code: AT

Payment date: 20140219

Year of fee payment: 11

Ref country code: ES

Payment date: 20140220

Year of fee payment: 11

Ref country code: FR

Payment date: 20140218

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20140220

Year of fee payment: 11

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502004012057

Country of ref document: DE

Representative=s name: PATENTANWAELTE SCHUSTER, MUELLER & PARTNER MBB, DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: V1

Effective date: 20150901

REG Reference to a national code

Ref country code: DK

Ref legal event code: EBP

Effective date: 20150228

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150901

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 493238

Country of ref document: AT

Kind code of ref document: T

Effective date: 20150227

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20150227

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150228

Ref country code: CZ

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150227

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150228

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20151030

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150227

Ref country code: HU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150228

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150227

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150228

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150227

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150302

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20160223

Year of fee payment: 13

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20160902

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150228

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502004012057

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170901